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<P>The goal of this study is to develop a mechanical system which display elastic characteristic like stiffness on the surface of human body aiming at applying to palpation simulator. Pneumatic parallel manipulator is employed as a driving mechanism, consequently, it brings capability of minute force displaying property owing to the air compressibility. Compliance control system without using force/moment sensor is constructed by introducing a disturbance observer and a compliance display scheme is proposed. The validity of the proposed scheme is verified experimentally.
Digital Object Identifier: 10.1109/ROBOT.2003.1242227
Published with permission from the copyright holder. this is the institute's copy, as published in Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on, 14-19 Sept. 2003, Volume 3, Pages 4098-4103.
Copyright © 2003 IEEE. All rights reserved.
Robotics and Automation